diff --git a/docs/en/config/safety.md b/docs/en/config/safety.md
index f0c043a6eb..db178c864c 100644
--- a/docs/en/config/safety.md
+++ b/docs/en/config/safety.md
@@ -288,7 +288,7 @@ The parachute health failsafe is triggered when a [MAVLink parachute](../periphe
 
 | Parameter                                                                                          | Description                                                                                                                                                                                                                                                                                            |
 | -------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
-| <a id="COM_PARACHUTE"></a>[COM_PARACHUTE](../advanced_config/parameter_reference.md#COM_PARACHUTE) | Parachute system monitoring and failsafe action. `0`: Disabled (default), `1`: Warning only, `2`: Error only (prevent arming), `3`: Return, `4`: Land.<br><br>On failsafe:<br>- `Error`, `Return`, and `Land` prevent arming.<br>- `Return` and `Land` start the associated action/mode when airborne. |
+| <a id="COM_PARACHUTE"></a>[COM_PARACHUTE](../advanced_config/parameter_reference.md#COM_PARACHUTE) | Parachute system monitoring and failsafe action.<br>`0`: Disabled (default), `1`: [Warning](#act_warn), `2`: [Return](#act_return), `3`: [Land](#act_land).<br><br>- Everything but `Disabled` prevents arming with a failing check.<br>- [Return](#act_return) and [Land](#act_land) start the associated action when a failure happens in-flight. |
 
 ## Quad-chute Failsafe
 
diff --git a/docs/en/peripherals/parachute.md b/docs/en/peripherals/parachute.md
index 2a21edc790..d67750ca97 100644
--- a/docs/en/peripherals/parachute.md
+++ b/docs/en/peripherals/parachute.md
@@ -75,7 +75,7 @@ You then need to ensure that the parachute pin will be set to a value that will
 PX4 will trigger a connected and healthy parachute on failsafe by sending the command [MAV_CMD_DO_PARACHUTE](https://mavlink.io/en/messages/common.html#MAV_CMD_DO_PARACHUTE) with the [PARACHUTE_RELEASE](https://mavlink.io/en/messages/common.html#PARACHUTE_ACTION) action.
 
 MAVLink parachute support is enabled by setting the parameter [COM_PARACHUTE](../advanced_config/parameter_reference.md#COM_PARACHUTE) to a non-zero value.
-The parameter also configures the arming check and in-flight failsafe action when the parachute system is missing or unhealthy (see [Parachute Health Failsafe](../config/safety.md#parachute-health-failsafe)).
+The parameter also configures the arming check and in-flight failsafe action when the parachute system is missing or unhealthy, see [Parachute Health Failsafe](../config/safety.md#parachute-health-failsafe).
 
 PX4 will then indicate parachute status using the [MAV_SYS_STATUS_RECOVERY_SYSTEM](https://mavlink.io/en/messages/common.html#MAV_SYS_STATUS_RECOVERY_SYSTEM) bit in the [SYS_STATUS](https://mavlink.io/en/messages/common.html#SYS_STATUS) extended onboard control sensors fields:
 
diff --git a/docs/en/releases/main.md b/docs/en/releases/main.md
index 1ae7f524e0..71985ff278 100644
--- a/docs/en/releases/main.md
+++ b/docs/en/releases/main.md
@@ -44,7 +44,6 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
 - [Remote ID (Open Drone ID) in-flight failsafe](../peripherals/remote_id.md): extended [COM_ARM_ODID](../advanced_config/parameter_reference.md#COM_ARM_ODID) to also trigger a configurable failsafe action (Return, Land, or Terminate) if the Remote ID heartbeat is lost while airborne. Users previously on `COM_ARM_ODID=2` retain the same arming behaviour; set to `3` or higher to enable the in-flight action. ([PX4-Autopilot#27029](https://github.com/PX4/PX4-Autopilot/pull/27029))
 - [QGroundControl Bootloader Update](../advanced_config/bootloader_update.md#qgc-bootloader-update-sys-bl-update) via the [SYS_BL_UPDATE](../advanced_config/parameter_reference.md#SYS_BL_UPDATE) parameter has been re-enabled after being broken for a number of releases. ([PX4-Autopilot#25032: build: romf: fix generation of rc.board_bootloader_upgrade](https://github.com/PX4/PX4-Autopilot/pull/25032)).
 - [Feature: Allow prioritization of manual control inputs based on their instance number in ascending or descending order](../config/manual_control.md#px4-configuration). ([PX4-Autopilot#25602: Ascending and descending manual control input priorities](https://github.com/PX4/PX4-Autopilot/pull/25602)).
-- [Parachute health failsafe](../peripherals/parachute.md): extended [COM_PARACHUTE](../advanced_config/parameter_reference.md#COM_PARACHUTE) from a boolean into a configurable failsafe parameter. The in-flight action is now selectable (Return or Land). Users previously on `COM_PARACHUTE=1` (block arming) must update to `2` to retain that behaviour; set to `3` or higher to also enable the in-flight failsafe action. ([PX4-Autopilot#26918](https://github.com/PX4/PX4-Autopilot/pull/26918))
 
 ### Control
 
@@ -54,6 +53,7 @@ Please continue reading for [upgrade instructions](#upgrade-guide).
 ### Safety
 
 - Rotary-wing vehicles now support uncommanded altitude loss detection: if the vehicle descends more than [FD_ALT_LOSS](../advanced_config/parameter_reference.md#FD_ALT_LOSS) meters below its setpoint in altitude-controlled flight, flight termination (and parachute deployment) is triggered. See [Altitude Loss Trigger](../config/safety.md#altitude-loss-trigger). ([PX4-Autopilot#26837](https://github.com/PX4/PX4-Autopilot/pull/26837))
+- [Parachute health failsafe](../peripherals/parachute.md): extended [COM_PARACHUTE](../advanced_config/parameter_reference.md#COM_PARACHUTE) from a boolean into a configurable in-flight failsafe action (Return or Land) parameter. The previously enabled value `COM_PARACHUTE=1` causes a warning like before. ([PX4-Autopilot#26918](https://github.com/PX4/PX4-Autopilot/pull/26918))
 - [GNSS check failsafe](../config/safety.md#gnss-check-failsafe): new failsafe that monitors the number of usable GNSS receivers with a 3D fix and their position consistency. The required number of receivers is set via [SYS_HAS_NUM_GNSS](../advanced_config/parameter_reference.md#SYS_HAS_NUM_GNSS) and the failsafe action via [COM_GNSSLOSS_ACT](../advanced_config/parameter_reference.md#COM_GNSSLOSS_ACT). ([PX4-Autopilot#26863](https://github.com/PX4/PX4-Autopilot/pull/26863))
 
 ### Estimation
diff --git a/src/modules/commander/HealthAndArmingChecks/checks/parachuteCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/parachuteCheck.cpp
index 4d8dca72be..af35f0139b 100644
--- a/src/modules/commander/HealthAndArmingChecks/checks/parachuteCheck.cpp
+++ b/src/modules/commander/HealthAndArmingChecks/checks/parachuteCheck.cpp
@@ -38,64 +38,47 @@ using namespace time_literals;
 
 void ParachuteChecks::checkAndReport(const Context &context, Report &reporter)
 {
-	const int action = _param_com_parachute.get();
+	if (_param_com_parachute.get() < 1) { // COM_PARACHUTE 0 disables the check
+		return;
+	}
 
-	if (action > 0) {
-		reporter.failsafeFlags().parachute_unhealthy =
-			!context.status().parachute_system_present ||
-			!context.status().parachute_system_healthy;
+	reporter.failsafeFlags().parachute_unhealthy = !context.status().parachute_system_present || !context.status().parachute_system_healthy;
 
-		// Values >= 2 block arming; value 1 is warning-only
-		const bool warn_only = (action == 1);
-		const events::Log log_level = warn_only ? events::Log::Warning : events::Log::Error;
-		const NavModes affected_modes = warn_only ? NavModes::None : NavModes::All;
+	if (!context.status().parachute_system_present) {
+		/* EVENT
+		 * @description
+		 * No MAVLink parachute heartbeat detected. Check connection, power, configuration.
+		 *
+		 * <profile name="dev">
+		 * Configured by <param>COM_PARACHUTE</param>
+		 * </profile>
+		 */
+		reporter.healthFailure(NavModes::All, health_component_t::parachute, events::ID("check_parachute_missing"),
+				       events::Log::Error, "Parachute system missing");
 
-		if (!context.status().parachute_system_present) {
-			/* EVENT
-			 * @description
-			 * No MAVLink parachute heartbeat detected. Check connection, power, configuration.
-			 *
-			 * <profile name="dev">
-			 * Configured by <param>COM_PARACHUTE</param>
-			 * </profile>
-			 */
-			reporter.healthFailure(affected_modes, health_component_t::parachute, events::ID("check_parachute_missing"),
-					       log_level, "Parachute system missing");
-
-			if (reporter.mavlink_log_pub()) {
-				if (warn_only) {
-					mavlink_log_warning(reporter.mavlink_log_pub(), "Parachute system missing");
-
-				} else {
-					mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Parachute system missing");
-				}
-			}
-
-		} else if (!context.status().parachute_system_healthy) {
-
-			/* EVENT
-			 * @description
-			 * MAVLink parachute system reports unhealthy status.
-			 *
-			 * <profile name="dev">
-			 * Configured by <param>COM_PARACHUTE</param>
-			 * </profile>
-			 */
-			reporter.healthFailure(affected_modes, health_component_t::parachute, events::ID("check_parachute_unhealthy"),
-					       log_level, "Parachute system not ready");
-
-			if (reporter.mavlink_log_pub()) {
-				if (warn_only) {
-					mavlink_log_warning(reporter.mavlink_log_pub(), "Parachute system not ready");
-
-				} else {
-					mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Parachute system not ready");
-				}
-			}
+		if (reporter.mavlink_log_pub()) {
+			mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Parachute system missing");
 		}
 
-		if (context.status().parachute_system_present) {
-			reporter.setIsPresent(health_component_t::parachute);
+	} else if (!context.status().parachute_system_healthy) {
+
+		/* EVENT
+		 * @description
+		 * MAVLink parachute system reports unhealthy status.
+		 *
+		 * <profile name="dev">
+		 * Configured by <param>COM_PARACHUTE</param>
+		 * </profile>
+		 */
+		reporter.healthFailure(NavModes::All, health_component_t::parachute, events::ID("check_parachute_unhealthy"),
+				       events::Log::Error, "Parachute system not ready");
+
+		if (reporter.mavlink_log_pub()) {
+			mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Parachute system not ready");
 		}
 	}
+
+	if (context.status().parachute_system_present) {
+		reporter.setIsPresent(health_component_t::parachute);
+	}
 }
diff --git a/src/modules/commander/commander_params.yaml b/src/modules/commander/commander_params.yaml
index 78ef5936f0..6f14a5a82f 100644
--- a/src/modules/commander/commander_params.yaml
+++ b/src/modules/commander/commander_params.yaml
@@ -89,8 +89,6 @@ parameters:
         7: 'Prio: RC > MAVL 2 > MAVL 1'
         8: 'Prio: MAVL 2 > MAVL 1 > RC'
       default: 3
-      min: 0
-      max: 8
     COM_DISARM_LAND:
       description:
         short: Time-out for auto disarm after landing
@@ -411,8 +409,6 @@ parameters:
         5: Terminate
         6: Disarm
       default: 0
-      min: 0
-      max: 6
     NAV_RCL_ACT:
       description:
         short: Set manual control loss failsafe mode
@@ -427,8 +423,6 @@ parameters:
         5: Terminate
         6: Disarm
       default: 2
-      min: 1
-      max: 6
     COM_RCL_EXCEPT:
       description:
         short: Manual control loss exceptions
@@ -476,24 +470,18 @@ parameters:
         3: Return mode
         4: Terminate
       default: 0
-      min: 0
-      max: 4
     COM_PARACHUTE:
       description:
-        short: Parachute system monitoring and failsafe action
+        short: Parachute requirement and failsafe
         long: |-
-          Configures whether a MAVLink parachute system is monitored and what action is
-          taken when it reports missing or unhealthy status.
-          From Error onwards the check also blocks arming.
+          Require a MAVLink parachute system for arming and the failsafe action when missing or unhealthy.
       type: enum
       values:
         0: Disabled
-        1: Warning only
-        2: Error (blocks arming)
-        3: Return
-        4: Land
+        1: Warning
+        2: Return
+        3: Land
       default: 0
-      increment: 1
     COM_ARM_CHK_ESCS:
       description:
         short: Enable checks on ESCs that report telemetry
diff --git a/src/modules/commander/failsafe/failsafe.cpp b/src/modules/commander/failsafe/failsafe.cpp
index a281340002..037572cb97 100644
--- a/src/modules/commander/failsafe/failsafe.cpp
+++ b/src/modules/commander/failsafe/failsafe.cpp
@@ -414,7 +414,6 @@ FailsafeBase::ActionOptions Failsafe::fromParachuteActParam(int param_value)
 		break;
 
 	case parachute_unhealthy_failsafe_mode::Warning:
-	case parachute_unhealthy_failsafe_mode::Error:
 		options.action = Action::Warn;
 		options.clear_condition = ClearCondition::WhenConditionClears;
 		break;
@@ -628,7 +627,7 @@ void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state,
 	}
 
 	// Parachute system health failsafe
-	CHECK_FAILSAFE(status_flags, parachute_unhealthy, ActionOptions(fromParachuteActParam(_param_com_parachute_act.get())));
+	CHECK_FAILSAFE(status_flags, parachute_unhealthy, ActionOptions(fromParachuteActParam(_param_com_parachute.get())));
 
 	// Remote ID (Open Drone ID) loss failsafe
 	if (state.armed && _param_com_arm_odid.get() >= int32_t(open_drone_id_failsafe_mode::Return_mode)) {
diff --git a/src/modules/commander/failsafe/failsafe.h b/src/modules/commander/failsafe/failsafe.h
index 2e8ad3ff6b..f17cd2c151 100644
--- a/src/modules/commander/failsafe/failsafe.h
+++ b/src/modules/commander/failsafe/failsafe.h
@@ -162,9 +162,8 @@ private:
 	enum class parachute_unhealthy_failsafe_mode : int32_t {
 		Disabled = 0,
 		Warning = 1,
-		Error = 2,
-		Return = 3,
-		Land = 4,
+		Return = 2,
+		Land = 3,
 	};
 
 	enum class gps_redundancy_failsafe_mode : int32_t {
@@ -228,7 +227,7 @@ private:
 					(ParamInt<px4::params::COM_FLTT_LOW_ACT>) _param_com_fltt_low_act,
 					(ParamInt<px4::params::COM_POS_LOW_ACT>) _param_com_pos_low_act,
 					(ParamInt<px4::params::COM_ARM_ODID>) _param_com_arm_odid,
-					(ParamInt<px4::params::COM_PARACHUTE>) _param_com_parachute_act,
+					(ParamInt<px4::params::COM_PARACHUTE>) _param_com_parachute,
 					(ParamInt<px4::params::COM_GNSSLOSS_ACT>) _param_com_gnssloss_act
 				       );